Merge remote-tracking branch 'commaai/openpilot/master' into ram-hd-2024-btn

# Conflicts:
#	opendbc_repo

.gitattributes

@@ -11,8 +11,6 @@
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text

.github/workflows/model_review.yaml

@@ -0,0 +1,42 @@
+name: "model review"
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+    paths:
+      - 'selfdrive/modeld/models/*.onnx'
+  workflow_dispatch:
+
+jobs:
+  comment:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Checkout master
+        uses: actions/checkout@v4
+        with:
+          ref: master
+          path: base
+      - run: git lfs pull
+      - run: cd base && git lfs pull
+
+      - run: pip install onnx
+
+      - name: scripts/reporter.py
+        id: report
+        run: |
+          echo "content<<EOF" >> $GITHUB_OUTPUT
+          echo "## Model Review" >> $GITHUB_OUTPUT
+          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          echo "EOF" >> $GITHUB_OUTPUT
+
+      - name: Post model report comment
+        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        with:
+          header: model-review
+          message: ${{ steps.report.outputs.content }}

.github/workflows/selfdrive_tests.yaml

@@ -51,10 +51,6 @@ jobs:
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.repository == 'commaai/openpilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -65,6 +61,10 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'commaai/openpilot'
+      timeout-minutes: 3
+      run: release/check-submodules.sh
 
   build:
     runs-on:
@@ -331,6 +331,7 @@ jobs:
     runs-on:
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
       - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
+    if: false  # FIXME: FrameReader is broken on CI runners
     steps:
       - uses: actions/checkout@v4
         with:

.github/workflows/ui_preview.yaml

@@ -19,7 +19,8 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'commaai/openpilot'
+    #if: github.repository == 'commaai/openpilot'
+    if: false  # FIXME: FrameReader is broken on CI runners
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20

RELEASES.md

@@ -1,10 +1,12 @@
-Version 0.9.9 (2025-04-30)
+Version 0.9.9 (2025-05-15)
 ========================
 * New driving model
+  * New training architecture supervised by MLSIM
+* Steering actuator delay is now learned online
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
 * Coming soon
-  * New driving model supervised by MLSIM
-  * An online learner for steering actuator delay
+  * New Honda models
+  * Bigger vision model
 
 Version 0.9.8 (2025-02-28)
 ========================

cereal/log.capnp

@@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     preEnableStandstill @12;  # added during pre-enable state with brake
     gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
     steerOverride @14;
+    steerDisengage @94;  # exits active state
     cruiseDisabled @15;
     speedTooLow @16;
     outOfSpace @17;
@@ -1174,6 +1175,8 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
   }
 }
 
@@ -2284,6 +2287,7 @@ struct LiveDelayData {
   status @2 :Status;
 
   lateralDelayEstimate @3 :Float32;
+  lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
 
   enum Status {

cereal/services.py

@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),

common/params_keys.h

@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY},
     {"ExperimentalMode", PERSISTENT},
     {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -71,7 +71,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
+    {"LiveDelay", PERSISTENT},
     {"LiveParameters", PERSISTENT},
+    {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},

common/spinner.py

@@ -1,52 +0,0 @@
-import os
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class Spinner:
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
-
-  def __enter__(self):
-    return self
-
-  def update(self, spinner_text: str):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-      try:
-        self.spinner_proc.stdin.flush()
-      except BrokenPipeError:
-        pass
-
-  def update_progress(self, cur: float, total: float):
-    self.update(str(round(100 * cur / total)))
-
-  def close(self):
-    if self.spinner_proc is not None:
-      self.spinner_proc.kill()
-      try:
-        self.spinner_proc.communicate(timeout=2.)
-      except subprocess.TimeoutExpired:
-        print("WARNING: failed to kill spinner")
-      self.spinner_proc = None
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  import time
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5.0)
-  print("gone")
-  time.sleep(5.0)

common/tests/test_simple_kalman.py

@@ -24,6 +24,6 @@ class TestSimpleKalman:
     self.kf.set_x([[1.0], [1.0]])
     assert self.kf.x == [[1.0], [1.0]]
 
-  def update_returns_state(self):
+  def test_update_returns_state(self):
     x = self.kf.update(100)
-    assert x == self.kf.x
+    assert x == [i[0] for i in self.kf.x]

common/text_window.py

@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
-
-  def get_status(self):
-    if self.text_proc is not None:
-      self.text_proc.poll()
-      return self.text_proc.returncode
-    return None
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self.text_proc is not None:
-      self.text_proc.terminate()
-      self.text_proc = None
-
-  def wait_for_exit(self):
-    if self.text_proc is not None:
-      while True:
-        if self.get_status() == 1:
-          return
-        time.sleep(0.1)
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  text = """Traceback (most recent call last):
-  File "./controlsd.py", line 608, in <module>
-    main()
-  File "./controlsd.py", line 604, in main
-    controlsd_thread(sm, pm, logcan)
-  File "./controlsd.py", line 455, in controlsd_thread
-    1/0
-ZeroDivisionError: division by zero"""
-  print(text)
-
-  with TextWindow(text) as s:
-    for _ in range(100):
-      if s.get_status() == 1:
-        print("Got exit button")
-        break
-      time.sleep(0.1)
-  print("gone")

docs/CARS.md

@@ -4,19 +4,19 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 302 Supported Cars
+# 304 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -28,7 +28,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-24">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -54,23 +54,25 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
@@ -78,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>||
 |Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
 |Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
@@ -96,10 +98,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -110,11 +112,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Kona 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Nexo 2021">Buy Here</a></sub></details>||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -122,36 +124,36 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
+|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Staria 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2018">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2021">Buy Here</a></sub></details>||
@@ -162,11 +164,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -193,42 +195,42 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
 |Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
 |Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -241,8 +243,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -274,58 +276,61 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

docs/how-to/turn-the-speed-blue.md

@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j8
+scons -j$(nproc)
 ```
 
 ## 2. Run replay
@@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
 
 If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
 
+
 ## 3. Make the speed blue
 
-Search for “mph” with git grep in the `ui` folder.
+Now let’s update the speed display color in the UI.
+
+Search for the function responsible for rendering UI text:
 ```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```
 
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+```
+
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+
+```diff
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+```
+
+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
+---
+
+## 4. Rebuild the UI
+
+After making changes, rebuild Openpilot so your new UI is compiled:
 ```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
+scons -j$(nproc) && selfdrive/ui/ui
 ```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
+You should now see the speed displayed in a nice blue shade during the demo replay.
+
+---
+
 ## 5. Push your fork to GitHub
 
-Click fork on GitHub. Then, push with:
+Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
 ```bash
 git remote rm origin
 git remote add origin git@github.com:<your-github-username>/openpilot.git
 git add .
-git commit -m "Make the speed blue."
+git commit -m "Make the speed display blue"
 git push --set-upstream origin master
 ```
 
-## 6. Run your fork on device in your car!
+---
 
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+## 6. Run your fork on your comma device
+
+Uninstall Openpilot through the settings on your device.
+
+Then reinstall using your own GitHub-hosted fork:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-## 7. Admire your work IRL
+---
+
+## 7. Admire your work IRL 🚗💨
+
+You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)

scripts/reporter.py

@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import os
+import glob
+import onnx
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
+MODEL_PATH = "/selfdrive/modeld/models/"
+
+def get_checkpoint(f):
+  model = onnx.load(f)
+  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  return metadata['model_checkpoint'].split('/')[0]
+
+if __name__ == "__main__":
+  print("| | master | PR branch |")
+  print("|-| -----  | --------- |")
+
+  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
+    # TODO: add checkpoint to DM
+    if "dmonitoring" in f:
+      continue
+
+    fn = os.path.basename(f)
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
+    print(
+      "|", fn, "|",
+      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
+      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
+    )

selfdrive/car/car_specific.py

@@ -191,6 +191,8 @@ class CarSpecificEvents:
       events.add(EventName.accFaulted)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
+    if CS.steeringDisengage:
+      events.add(EventName.steerDisengage)
     if CS.brakePressed and CS.standstill:
       events.add(EventName.preEnableStandstill)
     if CS.gasPressed:

selfdrive/car/card.py

@@ -89,7 +89,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
@@ -98,7 +98,7 @@ class Car:
         with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
           cached_params = _cached_params
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, num_pandas, cached_params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP)
       self.CP = self.CI.CP
 

selfdrive/car/tests/test_car_interfaces.py

@@ -39,7 +39,7 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         experimental_long=args['experimental_long'], docs=False)
+                                         alpha_long=args['alpha_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params)
     assert car_params

selfdrive/car/tests/test_models.py

@@ -78,7 +78,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
     cls.fingerprint = gen_empty_fingerprint()
-    experimental_long = False
+    alpha_long = False
     for msg in lr:
       if msg.which() == "can":
         can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
@@ -91,7 +91,7 @@ class TestCarModelBase(unittest.TestCase):
       elif msg.which() == "carParams":
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
-          experimental_long = True
+          alpha_long = True
         if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -113,7 +113,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, experimental_long
+    return car_fw, can_msgs, alpha_long
 
   @classmethod
   def get_testing_data(cls):
@@ -146,13 +146,13 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.platform
 

selfdrive/controls/controlsd.py

@@ -141,6 +141,7 @@ class Controls:
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
+    CC.currentCurvature = self.curvature
     if self.calibrated_pose is not None:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()

selfdrive/controls/lib/drive_helpers.py

@@ -1,7 +1,7 @@
 import numpy as np
 from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
@@ -43,3 +46,29 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+  if len(speeds) == len(t_idxs):
+    v_now = speeds[0]
+    a_now = accels[0]
+    v_target = np.interp(action_t, t_idxs, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
+  return a_target, should_stop
+
+def curv_from_psis(psi_target, psi_rate, vego, action_t):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * action_t)
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
+  psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_rate = yaw_rates[0]
+  return curv_from_psis(psi_target, psi_rate, vego, action_t)

selfdrive/controls/lib/longitudinal_planner.py

@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -48,27 +48,11 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
-  if len(speeds) == CONTROL_N:
-    v_now = speeds[0]
-    a_now = accels[0]
-
-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
-  else:
-    v_target = 0.0
-    v_target_1sec = 0.0
-    a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
-  return a_target, should_stop
-
-
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    self.mpc.mode = 'acc'
     self.fcw = False
     self.dt = dt
     self.allow_throttle = True
@@ -106,7 +90,7 @@ class LongitudinalPlanner:
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -129,7 +113,7 @@ class LongitudinalPlanner:
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mpc.mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -176,8 +160,17 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+    if self.mode == 'acc':
+      output_a_target = output_a_target_mpc
+      self.output_should_stop = output_should_stop_mpc
+    else:
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)

selfdrive/debug/set_car_params.py

@@ -15,7 +15,7 @@ if __name__ == "__main__":
   else:
     CP = car.CarParams.new_message()
     CP.openpilotLongitudinalControl = True
-    CP.experimentalLongitudinalAvailable = False
+    CP.alphaLongitudinalAvailable = False
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):

selfdrive/locationd/helpers.py

@@ -1,10 +1,48 @@
 import numpy as np
 from typing import Any
+from functools import cache
 
 from cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
+@cache
+def fft_next_good_size(n: int) -> int:
+    """
+    smallest composite of 2, 3, 5, 7, 11 that is >= n
+    inspired by pocketfft
+    """
+    if n <= 6:
+      return n
+    best, f2 = 2 * n, 1
+    while f2 < best:
+        f23 = f2
+        while f23 < best:
+            f235 = f23
+            while f235 < best:
+                f2357 = f235
+                while f2357 < best:
+                    f235711 = f2357
+                    while f235711 < best:
+                        best = f235711 if f235711 >= n else best
+                        f235711 *= 11
+                    f2357 *= 7
+                f235 *= 5
+            f23 *= 3
+        f2 *= 2
+    return best
+
+
+def parabolic_peak_interp(R, max_index):
+  if max_index == 0 or max_index == len(R) - 1:
+    return max_index
+
+  y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
+  offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
+
+  return max_index + offset
+
+
 def rotate_cov(rot_matrix, cov_in):
   return rot_matrix @ cov_in @ rot_matrix.T
 

selfdrive/locationd/lagd.py

@@ -0,0 +1,373 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import capnp
+from collections import deque
+from functools import partial
+
+import cereal.messaging as messaging
+from cereal import car, log
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 300.0
+MIN_OKAY_WINDOW_SEC = 25.0
+MIN_RECOVERY_BUFFER_SEC = 2.0
+MIN_VEGO = 15.0
+MIN_ABS_YAW_RATE = np.radians(1.0)
+MAX_YAW_RATE_SANITY_CHECK = 1.0
+MIN_NCC = 0.95
+MAX_LAG = 1.0
+MAX_LAG_STD = 0.1
+MAX_LAT_ACCEL = 2.0
+MAX_LAT_ACCEL_DIFF = 0.6
+
+
+def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
+  """
+  References:
+    D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
+    Pattern Recognition, pp. 2918-2925 (2010).
+    :DOI:`10.1109/CVPR.2010.5540032`
+  """
+
+  eps = np.finfo(np.float64).eps
+  expected_sig = np.asarray(expected_sig, dtype=np.float64)
+  actual_sig = np.asarray(actual_sig, dtype=np.float64)
+
+  expected_sig[~mask] = 0.0
+  actual_sig[~mask] = 0.0
+
+  rotated_expected_sig = expected_sig[::-1]
+  rotated_mask = mask[::-1]
+
+  fft = partial(np.fft.fft, n=n)
+
+  actual_sig_fft = fft(actual_sig)
+  rotated_expected_sig_fft = fft(rotated_expected_sig)
+  actual_mask_fft = fft(mask.astype(np.float64))
+  rotated_mask_fft = fft(rotated_mask.astype(np.float64))
+
+  number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
+  number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
+  number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
+  masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
+  masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
+
+  numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
+  numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
+
+  actual_squared_fft = fft(actual_sig ** 2)
+  actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
+  actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
+  actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
+
+  rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
+  expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
+  expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
+  expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
+
+  denom = np.sqrt(actual_sig_denom * expected_sig_denom)
+
+  # zero-out samples with very small denominators
+  tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
+  nonzero_indices = denom > tol
+
+  ncc = np.zeros_like(denom, dtype=np.float64)
+  ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
+  np.clip(ncc, -1, 1, out=ncc)
+
+  return ncc
+
+
+class Points:
+  def __init__(self, num_points: int):
+    self.times = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.okay = deque[bool]([False] * num_points, maxlen=num_points)
+    self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
+
+  @property
+  def num_points(self):
+    return len(self.desired)
+
+  @property
+  def num_okay(self):
+    return np.count_nonzero(self.okay)
+
+  def update(self, t: float, desired: float, actual: float, okay: bool):
+    self.times.append(t)
+    self.okay.append(okay)
+    self.desired.append(desired)
+    self.actual.append(actual)
+
+  def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
+
+
+class BlockAverage:
+  def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
+    self.num_blocks = num_blocks
+    self.block_size = block_size
+    self.block_idx = valid_blocks % num_blocks
+    self.idx = 0
+
+    self.values = np.tile(initial_value, (num_blocks, 1))
+    self.valid_blocks = valid_blocks
+
+  def update(self, value: float):
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
+    self.idx = (self.idx + 1) % self.block_size
+    if self.idx == 0:
+      self.block_idx = (self.block_idx + 1) % self.num_blocks
+      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
+
+  def get(self) -> tuple[float, float, float, float]:
+    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
+    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
+
+    if len(valid_block_idx) > 0:
+      valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item())
+      valid_std = float(np.std(self.values[valid_block_idx], axis=0).item())
+    else:
+      valid_mean, valid_std = float('nan'), float('nan')
+
+    if len(valid_and_current_idx) > 0:
+      current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item())
+      current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item())
+    else:
+      current_mean, current_std = float('nan'), float('nan')
+
+    return valid_mean, valid_std, current_mean, current_std
+
+
+class LateralLagEstimator:
+  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+
+  def __init__(self, CP: car.CarParams, dt: float,
+               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
+               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF):
+    self.dt = dt
+    self.window_sec = window_sec
+    self.okay_window_sec = okay_window_sec
+    self.min_recovery_buffer_sec = min_recovery_buffer_sec
+    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.block_size = block_size
+    self.block_count = block_count
+    self.min_valid_block_count = min_valid_block_count
+    self.min_vego = min_vego
+    self.min_yr = min_yr
+    self.min_ncc = min_ncc
+    self.max_lat_accel = max_lat_accel
+    self.max_lat_accel_diff = max_lat_accel_diff
+
+    self.t = 0.0
+    self.lat_active = False
+    self.steering_pressed = False
+    self.steering_saturated = False
+    self.desired_curvature = 0.0
+    self.v_ego = 0.0
+    self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
+    self.pose_valid = False
+
+    self.last_lat_inactive_t = 0.0
+    self.last_steering_pressed_t = 0.0
+    self.last_steering_saturated_t = 0.0
+    self.last_pose_invalid_t = 0.0
+    self.last_estimate_t = 0.0
+
+    self.calibrator = PoseCalibrator()
+
+    self.reset(self.initial_lag, 0)
+
+  def reset(self, initial_lag: float, valid_blocks: int):
+    window_len = int(self.window_sec / self.dt)
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
+
+  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+    msg = messaging.new_message('liveDelay')
+
+    msg.valid = valid
+
+    liveDelay = msg.liveDelay
+
+    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
+    if self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+      if valid_std > MAX_LAG_STD:
+        liveDelay.status = log.LiveDelayData.Status.invalid
+      else:
+        liveDelay.status = log.LiveDelayData.Status.estimated
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+
+    if liveDelay.status == log.LiveDelayData.Status.estimated:
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
+      liveDelay.lateralDelay = self.initial_lag
+
+    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
+      liveDelay.lateralDelayEstimate = current_mean_lag
+      liveDelay.lateralDelayEstimateStd = current_std
+    else:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+      liveDelay.lateralDelayEstimateStd = 0.0
+
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    if debug:
+      liveDelay.points = self.block_avg.values.flatten().tolist()
+
+    return msg
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
+    if which == "carControl":
+      self.lat_active = msg.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.steeringPressed
+      self.v_ego = msg.vEgo
+    elif which == "controlsState":
+      self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
+      self.desired_curvature = msg.desiredCurvature
+    elif which == "liveCalibration":
+      self.calibrator.feed_live_calib(msg)
+    elif which == "livePose":
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate = calibrated_pose.angular_velocity.yaw
+      self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
+      self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
+    self.t = t
+
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)
+
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)
+
+  def update_points(self):
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
+    la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff
+    calib_valid = self.calibrator.calib_valid
+
+    if not self.lat_active:
+      self.last_lat_inactive_t = self.t
+    if self.steering_pressed:
+      self.last_steering_pressed_t = self.t
+    if self.steering_saturated:
+      self.last_steering_saturated_t = self.t
+    if not sensors_valid or not la_valid:
+      self.last_pose_invalid_t = self.t
+
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid
+      self.t - last_t >= self.min_recovery_buffer_sec
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t]
+    )
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
+           fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
+
+    self.points.update(self.t, la_desired, la_actual_pose, okay)
+
+  def update_estimate(self):
+    if not self.points_enough():
+      return
+
+    times, desired, actual, okay = self.points.get()
+    # check if there are any new valid data points since the last update
+    is_valid = self.points_valid()
+    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
+      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
+      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
+
+    delay, corr = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    if corr < self.min_ncc or not is_valid:
+      return
+
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t
+
+  def actuator_delay(self, expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float]:
+    assert len(expected_sig) == len(actual_sig)
+    max_lag_samples = int(max_lag / dt)
+    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+
+    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
+
+    # only consider lags from 0 to max_lag
+    roi_ncc = ncc[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
+
+    max_corr_index = np.argmax(roi_ncc)
+    corr = roi_ncc[max_corr_index]
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+
+    return lag, corr
+
+
+def retrieve_initial_lag(params_reader: Params, CP: car.CarParams):
+  last_lag_data = params_reader.get("LiveDelay")
+  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+
+  if last_lag_data is not None:
+    try:
+      with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+        ld = last_lag_msg.liveDelay
+        if last_CP.carFingerprint != CP.carFingerprint:
+          raise Exception("Car model mismatch")
+
+        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        return lag, valid_blocks
+    except Exception as e:
+      cloudlog.error(f"Failed to retrieve initial lag: {e}")
+
+  return None
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
+  pm = messaging.PubMaster(['liveDelay'])
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+
+  params_reader = Params()
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency)
+  if (initial_lag_params := retrieve_initial_lag(params_reader, CP)) is not None:
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)
+
+  while True:
+    sm.update()
+    if sm.all_checks():
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+        if sm.updated[which]:
+          t = sm.logMonoTime[which] * 1e-9
+          lag_learner.handle_log(t, which, sm[which])
+      lag_learner.update_points()
+
+    # 4Hz driven by livePose
+    if sm.frame % 5 == 0:
+      lag_learner.update_estimate()
+      lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      lag_msg_dat = lag_msg.to_bytes()
+      pm.send('liveDelay', lag_msg_dat)
+
+      if sm.frame % 1200 == 0: # cache every 60 seconds
+        params_reader.put_nonblocking("LiveDelay", lag_msg_dat)

selfdrive/locationd/paramsd.py

@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
 
 
 # TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params_reader: Params):
-  last_parameters_data = params_reader.get("LiveParameters")
-  if last_parameters_data is None:
+def migrate_cached_vehicle_params_if_needed(params: Params):
+  last_parameters_data_old = params.get("LiveParameters")
+  last_parameters_data = params.get("LiveParametersV2")
+  if last_parameters_data_old is None or last_parameters_data is not None:
     return
 
   try:
-    last_parameters_dict = json.loads(last_parameters_data)
+    last_parameters_dict = json.loads(last_parameters_data_old)
     last_parameters_msg = messaging.new_message('liveParameters')
     last_parameters_msg.liveParameters.valid = True
     last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
-    params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
-  except Exception:
-    pass
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+  except Exception as e:
+    cloudlog.error(f"Failed to perform parameter migration: {e}")
+    params.remove("LiveParameters")
 
 
-def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
-  last_parameters_data = params_reader.get("LiveParameters")
-  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
+  last_parameters_data = params.get("LiveParametersV2")
+  last_carparams_data = params.get("CarParamsPrevRoute")
 
   steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
 
@@ -267,12 +269,12 @@ def main():
   pm = messaging.PubMaster(['liveParameters'])
   sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
-  params_reader = Params()
-  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params_reader)
+  migrate_cached_vehicle_params_if_needed(params)
 
-  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
+  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   while True:
@@ -288,7 +290,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params_reader.put_nonblocking("LiveParameters", msg_dat)
+        params.put_nonblocking("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 

selfdrive/locationd/test/test_lagd.py

@@ -0,0 +1,141 @@
+import random
+import numpy as np
+import time
+import pytest
+
+from cereal import messaging, log
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+
+
+def process_messages(mocker, estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+  class ZeroMock(mocker.Mock):
+    def __getattr__(self, *args):
+      return 0
+
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(t) * 0.1
+    actual_la = np.cos(t - lag_frames * estimator.dt) * 0.1
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = desired_la / (vego ** 2)
+    actual_yr = actual_la / vego
+    msgs = [
+      (t, "carControl", mocker.Mock(latActive=not rejected)),
+      (t, "carState", mocker.Mock(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", mocker.Mock(desiredCurvature=desired_cuvature,
+                                        lateralControlState=mocker.Mock(which=mocker.Mock(return_value='debugControlState'), debugControlState=ZeroMock()))),
+      (t, "livePose", mocker.Mock(orientationNED=ZeroMock(),
+                                velocityDevice=ZeroMock(),
+                                accelerationDevice=ZeroMock(),
+                                angularVelocityDevice=ZeroMock(z=actual_yr, valid=True),
+                                posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", mocker.Mock(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd:
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = messaging.new_message('liveDelay')
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks
+
+  def test_ncc(self):
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.liveDelay.validBlocks == 0
+
+  def test_estimator_basics(self, mocker, subtests):
+    for lag_frames in range(5):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(mocker, estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.liveDelay.status == 'estimated'
+        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_estimator_masking(self, mocker):
+    mocked_CP, lag_frames = mocker.Mock(steerActuatorDelay=0.8), random.randint(1, 19)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(mocker, estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+
+  @pytest.mark.skipif(PC, reason="only on device")
+  @pytest.mark.timeout(60)
+  def test_estimator_performance(self, mocker):
+    mocked_CP = mocker.Mock(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT

selfdrive/locationd/test/test_paramsd.py

@@ -28,7 +28,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@@ -49,9 +49,20 @@ class TestParamsd:
     msg = get_random_live_parameters(CP)
     params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
     sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None

selfdrive/locationd/torqued.py

@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
@@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["steer_override"].append(msg.steeringPressed)
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
-
+    elif which == "liveDelay":
+      self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -241,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))

selfdrive/modeld/fill_model_msg.py

@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
@@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -89,17 +90,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
   # temporal pose
-  temporal_pose = modelV2.temporalPose
-  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose = modelV2.temporalPose
+  #temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  #temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  #temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  # action
+  modelV2.action = action
 
   # times at X_IDXS of edges and lines aren't used
   LINE_T_IDXS: list[float] = []

selfdrive/modeld/modeld.py

@@ -21,14 +21,15 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
@@ -40,6 +41,31 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
+LAT_SMOOTH_SECONDS = 0.3
+LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+    desired_curvature = get_curvature_from_plan(plan[:, Plan.T_FROM_CURRENT_EULER][:, 2],
+                                                plan[:, Plan.ORIENTATION_RATE][:, 2],
+                                                ModelConstants.T_IDXS, v_ego, lat_action_t)
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -147,7 +173,7 @@ class ModelState:
     # TODO model only uses last value now
     self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
     self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]
-    self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+    self.numpy_inputs['prev_desired_curv'][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
 
     combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
     if SEND_RAW_PRED:
@@ -195,7 +221,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -221,7 +247,9 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -263,7 +291,8 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -306,7 +335,10 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 

selfdrive/modeld/models/driving_policy.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:98f0121ccb6f850077b04cc91bd33d370fc6cbdc2bd35f1ab55628a15a813f36
-size 15966721
+oid sha256:8a478376723ba79e2393ca95e2d3e497571ba6fed113e5f13a36f0e4b4d4a7c5
+size 15588463

selfdrive/modeld/models/driving_vision.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:897f80d0388250f99bba69b6a8434560cc0fd83157cbeb0bc134c67fe4e64624
-size 34882971
+oid sha256:dad289ae367cefcb862ef1d707fb4919d008f0eeaa1ebaf18df58d8de5a7d96e
+size 46265585

selfdrive/modeld/parse_model_outputs.py

@@ -88,6 +88,12 @@ class Parser:
     self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
     self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
     self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
+    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
+    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
+                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
+    for k in ['lead_prob', 'lane_lines_prob']:
+      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH))
     self.parse_binary_crossentropy('meta', outs)
     return outs
@@ -95,17 +101,10 @@ class Parser:
   def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
-    self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
-    self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
-    self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION,
-                   out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
     if 'desired_curvature' in outs:
       self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
-    for k in ['lead_prob', 'lane_lines_prob']:
-      self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
     return outs
 

selfdrive/selfdrived/events.py

@@ -670,6 +670,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                               visual_alert=VisualAlert.brakePressed),
   },
 
+  EventName.steerDisengage: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
+  },
+
   EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
       "Release Brake to Engage",

selfdrive/selfdrived/selfdrived.py

@@ -75,7 +75,7 @@ class SelfdriveD:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
@@ -89,8 +89,8 @@ class SelfdriveD:
     car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.alphaLongitudinalAvailable:
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -107,6 +107,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed

selfdrive/test/process_replay/migration.py

@@ -9,10 +9,11 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
+from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -108,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
@@ -274,6 +275,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
     "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "CHEVROLET_VOLT": GMSafetyFlags.EV,
+    "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
   safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)

selfdrive/test/process_replay/model_replay.py

@@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
                      (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
                      (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
+                     (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
                      (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
                      (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
                      (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),

selfdrive/test/process_replay/process_replay.py

@@ -363,7 +363,7 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params).CP
+    CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
     if not params.get_bool("DisengageOnAccelerator"):
       CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
@@ -462,7 +462,7 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
@@ -551,6 +551,15 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="lagd",
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
+    subs=["liveDelay"],
+    ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
@@ -559,7 +568,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -568,7 +577,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
@@ -768,7 +777,7 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-887623a18d82088dc5ed9ecdced55eb0d3f718b1
+7bf4ae5b92a3ad1f073f675e24e28babad0f2aa0

selfdrive/test/process_replay/test_processes.py

@@ -22,16 +22,16 @@ source_segments = [
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
   ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("GM", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
@@ -41,28 +41,27 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
-  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
-  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
-  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
-  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
-  ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
-  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
-  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
-  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
-  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
-  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
-  ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
-  ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
-  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
-  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
+  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
+  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
+  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
+  ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
+  ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
+  ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
+  ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
+  ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
+  ("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
+  ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
+  ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
-  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
+  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
+  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla", "rivian"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -196,7 +195,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")

selfdrive/test/test_onroad.py

@@ -44,7 +44,6 @@ PROCS = {
   "./camerad": 10.0,
   "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
-  "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
@@ -53,6 +52,8 @@ PROCS = {
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
+  "selfdrive.locationd.paramsd": 9.0,
+  "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,

selfdrive/ui/.gitignore

@@ -3,9 +3,6 @@ moc_*
 
 translations/main_test_en.*
 
-_text
-_spinner
-
 ui
 mui
 watch3

selfdrive/ui/SConscript

@@ -66,10 +66,6 @@ if GetOption('extras'):
 
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
-  # spinner and text window
-  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
-
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],

selfdrive/ui/qt/network/wifi_manager.cc

@@ -439,7 +439,7 @@ void WifiManager::addTetheringConnection() {
   address["prefix"] = 24u;
   connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
   connection["ipv4"]["gateway"] = "192.168.43.1";
-  connection["ipv4"]["route-metric"] = 1100;
+  connection["ipv4"]["never-default"] = true;
   connection["ipv6"]["method"] = "ignore";
 
   asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));

selfdrive/ui/qt/offroad/developer_panel.cc

@@ -26,7 +26,7 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
+    "AlphaLongitudinalEnabled",
     tr("openpilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
       .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
@@ -68,8 +68,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
+    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 
@@ -78,7 +78,7 @@ void DeveloperPanel::updateToggles(bool _offroad) {
      * - is not a release branch, and
      * - the car supports experimental longitudinal control (alpha)
      */
-    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
   } else {

selfdrive/ui/qt/offroad/settings.cc

@@ -152,7 +152,7 @@ void TogglesPanel::updateToggles() {
 
       QString long_desc = unavailable + " " + \
                           tr("openpilot longitudinal control may come in a future update.");
-      if (CP.getExperimentalLongitudinalAvailable()) {
+      if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {

selfdrive/ui/qt/spinner.cc

@@ -1,120 +0,0 @@
-#include "selfdrive/ui/qt/spinner.h"
-
-#include <algorithm>
-#include <cstdio>
-#include <iostream>
-#include <string>
-
-#include <QApplication>
-#include <QGridLayout>
-#include <QPainter>
-#include <QString>
-#include <QTransform>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  setFixedSize(spinner_size);
-
-  // pre-compute all the track imgs. make this a gif instead?
-  QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
-  QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
-
-  QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
-  QPixmap pm(spinner_size);
-  QPainter p(&pm);
-  p.setRenderHint(QPainter::SmoothPixmapTransform);
-  for (int i = 0; i < track_imgs.size(); ++i) {
-    p.resetTransform();
-    p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
-    p.drawPixmap(0, 0, comma_img);
-    p.setTransform(transform.rotate(360 / spinner_fps));
-    p.drawPixmap(-width() / 2, -height() / 2, track_img);
-    track_imgs[i] = pm.copy();
-  }
-
-  m_anim.setDuration(1000);
-  m_anim.setStartValue(0);
-  m_anim.setEndValue(int(track_imgs.size() -1));
-  m_anim.setLoopCount(-1);
-  m_anim.start();
-  connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
-}
-
-void TrackWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-  painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
-}
-
-// Spinner
-
-Spinner::Spinner(QWidget *parent) : QWidget(parent) {
-  QGridLayout *main_layout = new QGridLayout(this);
-  main_layout->setSpacing(0);
-  main_layout->setMargin(200);
-
-  main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
-
-  text = new QLabel();
-  text->setWordWrap(true);
-  text->setVisible(false);
-  text->setAlignment(Qt::AlignCenter);
-  main_layout->addWidget(text, 1, 0, Qt::AlignHCenter);
-
-  progress_bar = new QProgressBar();
-  progress_bar->setRange(5, 100);
-  progress_bar->setTextVisible(false);
-  progress_bar->setVisible(false);
-  progress_bar->setFixedHeight(20);
-  main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
-
-  setStyleSheet(R"(
-    Spinner {
-      background-color: black;
-    }
-    QLabel {
-      color: white;
-      font-size: 80px;
-      background-color: transparent;
-    }
-    QProgressBar {
-      background-color: #373737;
-      width: 1000px;
-      border solid white;
-      border-radius: 10px;
-    }
-    QProgressBar::chunk {
-      border-radius: 10px;
-      background-color: white;
-    }
-  )");
-
-  notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
-  QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
-}
-
-void Spinner::update(int n) {
-  std::string line;
-  std::getline(std::cin, line);
-
-  if (line.length()) {
-    bool number = std::all_of(line.begin(), line.end(), ::isdigit);
-    text->setVisible(!number);
-    progress_bar->setVisible(number);
-    text->setText(QString::fromStdString(line));
-    if (number) {
-      progress_bar->setValue(std::stoi(line));
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Spinner spinner;
-  setMainWindow(&spinner);
-  return a.exec();
-}

selfdrive/ui/qt/spinner.h

@@ -1,37 +0,0 @@
-#include <array>
-
-#include <QLabel>
-#include <QPixmap>
-#include <QProgressBar>
-#include <QSocketNotifier>
-#include <QVariantAnimation>
-#include <QWidget>
-
-constexpr int spinner_fps = 30;
-constexpr QSize spinner_size = QSize(360, 360);
-
-class TrackWidget : public QWidget  {
-  Q_OBJECT
-public:
-  TrackWidget(QWidget *parent = nullptr);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  std::array<QPixmap, spinner_fps> track_imgs;
-  QVariantAnimation m_anim;
-};
-
-class Spinner : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Spinner(QWidget *parent = 0);
-
-private:
-  QLabel *text;
-  QProgressBar *progress_bar;
-  QSocketNotifier *notifier;
-
-public slots:
-  void update(int n);
-};

selfdrive/ui/qt/spinner_larch64

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4
-size 3821728

selfdrive/ui/qt/text.cc

@@ -1,64 +0,0 @@
-#include <QApplication>
-#include <QLabel>
-#include <QPushButton>
-#include <QScrollBar>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  QWidget window;
-  setMainWindow(&window);
-
-  QGridLayout *main_layout = new QGridLayout(&window);
-  main_layout->setMargin(50);
-
-  QLabel *label = new QLabel(argv[1]);
-  label->setWordWrap(true);
-  label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  ScrollView *scroll = new ScrollView(label);
-  scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-  main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
-
-  // Scroll to the bottom
-  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
-    scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
-  });
-
-  QPushButton *btn = new QPushButton();
-#ifdef __aarch64__
-  btn->setText(QObject::tr("Reboot"));
-  QObject::connect(btn, &QPushButton::clicked, [=]() {
-    Hardware::reboot();
-  });
-#else
-  btn->setText(QObject::tr("Exit"));
-  QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
-#endif
-  main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
-
-  window.setStyleSheet(R"(
-    * {
-      outline: none;
-      color: white;
-      background-color: black;
-      font-size: 60px;
-    }
-    QPushButton {
-      padding: 50px;
-      padding-right: 100px;
-      padding-left: 100px;
-      border: 2px solid white;
-      border-radius: 20px;
-      margin-right: 40px;
-    }
-  )");
-
-  return a.exec();
-}

selfdrive/ui/qt/text_larch64

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
-size 3787480

selfdrive/ui/qt/util.cc

@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+  return car_params.getAlphaLongitudinalAvailable()
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 

selfdrive/ui/spinner

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _spinner ]; then
-  cp qt/spinner_larch64 _spinner
-fi
-
-exec ./_spinner "$1"

selfdrive/ui/tests/test_ui/run.py

@@ -56,7 +56,7 @@ def setup_settings_firehose(click, pm: PubMaster):
 
 def setup_settings_developer(click, pm: PubMaster):
   CP = car.CarParams()
-  CP.experimentalLongitudinalAvailable = True
+  CP.alphaLongitudinalAvailable = True
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings_device(click, pm)

selfdrive/ui/text

@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _text ]; then
-  cp qt/text_larch64 _text
-fi
-
-exec ./_text "$1"

selfdrive/ui/translations/main_ar.ts

@@ -582,14 +582,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>إغلاق</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_de.ts

@@ -68,23 +68,23 @@
     </message>
     <message>
         <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
+        <translation>Verborgenes Netzwerk</translation>
     </message>
     <message>
         <source>CONNECT</source>
-        <translation type="unfinished">CONNECT</translation>
+        <translation>VERBINDEN</translation>
     </message>
     <message>
         <source>Enter SSID</source>
-        <translation type="unfinished">SSID eingeben</translation>
+        <translation>SSID eingeben</translation>
     </message>
     <message>
         <source>Enter password</source>
-        <translation type="unfinished">Passwort eingeben</translation>
+        <translation>Passwort eingeben</translation>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">für &quot;%1&quot;</translation>
+        <translation>für &quot;%1&quot;</translation>
     </message>
 </context>
 <context>
@@ -117,31 +117,31 @@
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Joystick Debug-Modus</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Längsmanöver-Modus</translation>
     </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot Längsregelung (Alpha)</translation>
     </message>
     <message>
         <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
+        <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB).</translation>
     </message>
     <message>
         <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <translation>Bei diesem Fahrzeug verwendet openpilot standardmäßig den eingebauten Tempomaten anstelle der openpilot Längsregelung. Aktiviere diese Option, um auf die openpilot Längsregelung umzuschalten. Es wird empfohlen, den experimentellen Modus zu aktivieren, wenn die openpilot Längsregelung (Alpha) aktiviert wird.</translation>
     </message>
     <message>
         <source>Enable ADB</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB aktivieren</translation>
     </message>
     <message>
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
     </message>
 </context>
 <context>
@@ -280,11 +280,11 @@
     </message>
     <message>
         <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät koppeln</translation>
     </message>
     <message>
         <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation>KOPPELN</translation>
     </message>
 </context>
 <context>
@@ -309,36 +309,38 @@
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 Firehose-Modus 🔥</translation>
     </message>
     <message>
         <source>openpilot learns to drive by watching humans, like you, drive.
 
 Firehose Mode allows you to maximize your training data uploads to improve openpilot&apos;s driving models. More data means bigger models, which means better Experimental Mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot lernt das Fahren, indem es Menschen wie dir beim Fahren zuschaut.
+
+Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximieren, um die Fahrmodelle von openpilot zu verbessern. Mehr Daten bedeuten größere Modelle, was zu einem besseren Experimentellen Modus führt.</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehose-Modus: AKTIV</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>AKTIV</translation>
     </message>
     <message>
         <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream openpilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
+        <translation>Für maximale Effektivität bring dein Gerät jede Woche nach drinnen und verbinde es mit einem guten USB-C-Adapter und WLAN.&lt;br&gt;&lt;br&gt;Der Firehose-Modus funktioniert auch während der Fahrt, wenn das Gerät mit einem Hotspot oder einer ungedrosselten SIM-Karte verbunden ist.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Häufig gestellte Fragen&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, wie oder wo ich fahre?&lt;/i&gt; Nein, fahre einfach wie gewohnt.&lt;br&gt;&lt;br&gt;&lt;i&gt;Werden im Firehose-Modus alle meine Segmente hochgeladen?&lt;/i&gt; Nein, wir wählen selektiv nur einen Teil deiner Segmente aus.&lt;br&gt;&lt;br&gt;&lt;i&gt;Welcher USB-C-Adapter ist gut?&lt;/i&gt; Jedes Schnellladegerät für Handy oder Laptop sollte ausreichen.&lt;br&gt;&lt;br&gt;&lt;i&gt;Spielt es eine Rolle, welche Software ich nutze?&lt;/i&gt; Ja, nur das offizielle Upstream‑openpilot (und bestimmte Forks) kann für das Training verwendet werden.</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
         </translation>
     </message>
     <message>
         <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
     </message>
 </context>
 <context>
@@ -411,48 +413,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     <name>OffroadAlert</name>
     <message>
         <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
-        <translation type="unfinished"></translation>
+        <translation>Stelle sofort eine Internetverbindung her, um nach Updates zu suchen. Wenn du keine Verbindung herstellst, kann openpilot in %1 nicht mehr aktiviert werden.</translation>
     </message>
     <message>
         <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
-        <translation type="unfinished"></translation>
+        <translation>Verbinde dich mit dem Internet, um nach Updates zu suchen. openpilot startet nicht automatisch, bis eine Internetverbindung besteht und nach Updates gesucht wurde.</translation>
     </message>
     <message>
         <source>Unable to download updates
 %1</source>
-        <translation type="unfinished"></translation>
+        <translation>Updates konnten nicht heruntergeladen werden
+%1</translation>
     </message>
     <message>
         <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation type="unfinished"></translation>
+        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
     </message>
     <message>
         <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation type="unfinished"></translation>
+        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
     </message>
     <message>
         <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
     </message>
     <message>
         <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></translation>
+        <translation>NVMe-Laufwerk nicht gemounted.</translation>
     </message>
     <message>
         <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation type="unfinished"></translation>
+        <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</translation>
     </message>
     <message>
         <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot konnte dein Auto nicht identifizieren. Dein Auto wird entweder nicht unterstützt oder die Steuergeräte (ECUs) werden nicht erkannt. Bitte reiche einen Pull Request ein, um die Firmware-Versionen für das richtige Fahrzeug hinzuzufügen. Hilfe findest du auf discord.comma.ai.</translation>
     </message>
     <message>
         <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot hat eine Änderung der Montageposition des Geräts erkannt. Stelle sicher, dass das Gerät vollständig in der Halterung sitzt und die Halterung fest an der Windschutzscheibe befestigt ist.</translation>
     </message>
     <message>
         <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
     </message>
 </context>
 <context>
@@ -474,23 +477,23 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     <name>OnroadAlerts</name>
     <message>
         <source>openpilot Unavailable</source>
-        <translation type="unfinished"></translation>
+        <translation>openpilot nicht verfügbar</translation>
     </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
     </message>
     <message>
         <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät neu starten</translation>
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>Warten auf Start</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
-        <translation type="unfinished"></translation>
+        <translation>System reagiert nicht</translation>
     </message>
 </context>
 <context>
@@ -513,7 +516,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
+        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
     </message>
 </context>
 <context>
@@ -547,15 +550,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
-        <translation type="unfinished"></translation>
+        <translation>24/7 LTE-Verbindung</translation>
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation type="unfinished"></translation>
+        <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Remote-Snapshots</translation>
     </message>
 </context>
 <context>
@@ -571,14 +574,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Verlassen</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>
@@ -606,7 +601,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>now</source>
-        <translation type="unfinished"></translation>
+        <translation>jetzt</translation>
     </message>
 </context>
 <context>
@@ -637,16 +632,17 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät wird zurückgesetzt...
+Dies kann bis zu einer Minute dauern.</translation>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
     </message>
 </context>
 <context>
@@ -673,11 +669,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Entwickler</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehose</translation>
     </message>
 </context>
 <context>
@@ -752,11 +748,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
     </message>
     <message>
         <source>Select a language</source>
@@ -764,15 +760,15 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
+        <translation>Wähle die zu installierende Software</translation>
     </message>
     <message>
         <source>openpilot</source>
-        <translation type="unfinished">openpilot</translation>
+        <translation>openpilot</translation>
     </message>
     <message>
         <source>Custom Software</source>
-        <translation type="unfinished"></translation>
+        <translation>Benutzerdefinierte Software</translation>
     </message>
 </context>
 <context>
@@ -923,23 +919,23 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation type="unfinished"></translation>
+        <translation>Update-Prüfung fehlgeschlagen</translation>
     </message>
     <message>
         <source>up to date, last checked %1</source>
-        <translation type="unfinished"></translation>
+        <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
-        <translation type="unfinished"></translation>
+        <translation>HERUNTERLADEN</translation>
     </message>
     <message>
         <source>update available</source>
-        <translation type="unfinished"></translation>
+        <translation>Update verfügbar</translation>
     </message>
     <message>
         <source>never</source>
-        <translation type="unfinished"></translation>
+        <translation>nie</translation>
     </message>
 </context>
 <context>
@@ -1000,11 +996,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Welcome to openpilot</source>
-        <translation type="unfinished"></translation>
+        <translation>Willkommen bei openpilot</translation>
     </message>
     <message>
         <source>You must accept the Terms and Conditions to use openpilot. Read the latest terms at &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt; before continuing.</source>
-        <translation type="unfinished"></translation>
+        <translation>Du musst die Nutzungsbedingungen akzeptieren, um openpilot zu verwenden. Lies die aktuellen Bedingungen unter &lt;span style=&apos;color: #465BEA;&apos;&gt;https://comma.ai/terms&lt;/span&gt;, bevor du fortfährst.</translation>
     </message>
 </context>
 <context>
@@ -1071,51 +1067,51 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Aggressive</source>
-        <translation type="unfinished"></translation>
+        <translation>Aggressiv</translation>
     </message>
     <message>
         <source>Standard</source>
-        <translation type="unfinished"></translation>
+        <translation>Standard</translation>
     </message>
     <message>
         <source>Relaxed</source>
-        <translation type="unfinished"></translation>
+        <translation>Entspannt</translation>
     </message>
     <message>
         <source>Driving Personality</source>
-        <translation type="unfinished"></translation>
+        <translation>Fahrstil</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
+        <translation>Ende-zu-Ende Längsregelung</translation>
     </message>
     <message>
         <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
+        <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
     </message>
     <message>
         <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>Eine Alpha-Version der openpilot Längsregelung kann zusammen mit dem Experimentellen Modus auf non-stable Branches getestet werden.</translation>
     </message>
     <message>
         <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></translation>
+        <translation>Aktiviere den Schalter für openpilot Längsregelung (Alpha), um den Experimentellen Modus zu erlauben.</translation>
     </message>
     <message>
         <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <translation>Standard wird empfohlen. Im aggressiven Modus folgt openpilot vorausfahrenden Fahrzeugen enger und ist beim Gasgeben und Bremsen aggressiver. Im entspannten Modus hält openpilot mehr Abstand zu vorausfahrenden Fahrzeugen. Bei unterstützten Fahrzeugen kannst du mit der Abstandstaste am Lenkrad zwischen diesen Fahrstilen wechseln.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
-        <translation type="unfinished"></translation>
+        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
     </message>
     <message>
         <source>Enable driver monitoring even when openpilot is not engaged.</source>
-        <translation type="unfinished"></translation>
+        <translation>Fahrerüberwachung auch aktivieren, wenn openpilot nicht aktiv ist.</translation>
     </message>
 </context>
 <context>
@@ -1157,15 +1153,15 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation type="unfinished"></translation>
+        <translation>Öffnen</translation>
     </message>
     <message>
         <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
     </message>
     <message>
         <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>

selfdrive/ui/translations/main_es.ts

@@ -574,14 +574,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Salir</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_fr.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Quitter</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_ja.ts

@@ -572,14 +572,6 @@ Firehoseモードを有効にすると、学習データを最大限アップロ
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>閉じる</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_ko.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>종료</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>오픈파일럿</translation>

selfdrive/ui/translations/main_pt-BR.ts

@@ -574,14 +574,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Sair</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_th.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>ปิด</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_tr.ts

@@ -569,14 +569,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Çık</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_zh-CHS.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>退出</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

selfdrive/ui/translations/main_zh-CHT.ts

@@ -572,14 +572,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>離開</translation>
-    </message>
     <message>
         <source>openpilot</source>
         <translation>openpilot</translation>

system/athena/registration.py

@@ -7,7 +7,6 @@ from pathlib import Path
 from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
@@ -45,6 +44,7 @@ def register(show_spinner=False) -> str | None:
     cloudlog.warning(f"missing public key: {pubkey}")
   elif dongle_id is None:
     if show_spinner:
+      from openpilot.system.ui.spinner import Spinner
       spinner = Spinner()
       spinner.update("registering device")
 

system/camerad/cameras/camera_common.cc

@@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
-  out_img_width = sensor->frame_width;
-  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;

system/camerad/cameras/camera_common.h

@@ -32,7 +32,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  int out_img_width, out_img_height;
+  uint32_t out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();

system/camerad/cameras/camera_qcom2.cc

@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 

system/camerad/cameras/ife.h

@@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }
 
 
-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
+    ((out_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
+    ((out_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
@@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
+    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
+    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    s->frame_height - 1,
-    s->frame_width - 1,
+    out_height - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    s->frame_height/2 - 1,
-    s->frame_width - 1,
+    out_height / 2 - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,

system/camerad/cameras/spectra.cc

@@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
+  buf.out_img_width = sensor->frame_width / sensor->out_scale;
+  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
     io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
     io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .plane_stride = stride,
       .slice_height = y_height,
     };
     io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height/2,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height / 2,
       .plane_stride = stride,
       .slice_height = uv_height,
     };
@@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
@@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height/2,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height / 2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
+    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
+      ((OS04C10*)s)->ife_downscale_configure();
+    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .fps = 20,
     },
   };

system/camerad/sensors/os04c10.cc

@@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
+void OS04C10::ife_downscale_configure() {
+  out_scale = 2;
+
+  pixel_size_mm = 0.002;
+  frame_width = 2688;
+  frame_height = 1520;
+  exposure_time_max = 2352;
+
+  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
+}
+
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;

system/camerad/sensors/os04c10_registers.h

@@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
-  // {0x3829, 0x03},
-  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -332,3 +330,23 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
+
+const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x3c8c, 0x40},
+  {0x3714, 0x24},
+  {0x37c2, 0x04},
+  {0x3662, 0x10},
+  {0x37d9, 0x08},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3814, 0x01},
+  {0x3816, 0x01},
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
+};

system/camerad/sensors/sensor.h

@@ -29,6 +29,7 @@ public:
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
+  int out_scale = 1;
   int registers_offset = -1;
   int stats_offset = -1;
   int hdr_offset = -1;
@@ -109,6 +110,7 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
+  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;

system/hardware/base.py

@@ -130,6 +130,9 @@ class HardwareBase(ABC):
   def get_thermal_config(self):
     return ThermalConfig()
 
+  def set_display_power(self, on: bool):
+    pass
+
   @abstractmethod
   def set_screen_brightness(self, percentage):
     pass

system/hardware/fan_controller.py

@@ -27,7 +27,7 @@ class TiciFanController(BaseFanController):
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - cur_temp
+    error = 75 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
                       feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])

system/hardware/tici/hardware.py

@@ -341,6 +341,13 @@ class Tici(HardwareBase):
                          exhaust=exhaust,
                          case=case)
 
+  def set_display_power(self, on):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
+        f.write("0" if on else "4")
+    except Exception:
+      pass
+
   def set_screen_brightness(self, percentage):
     try:
       with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:

system/manager/build.py

@@ -5,10 +5,10 @@ from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.spinner import Spinner
-from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
 from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.ui.text import TextWindow
 from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
@@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
 
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  with Spinner() as spinner:
+    spinner.update_progress(0, 100)
+    build_metadata = get_build_metadata()
+    build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)

system/manager/manager.py

@@ -9,7 +9,6 @@ from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
@@ -203,6 +202,8 @@ def main() -> None:
 
 
 if __name__ == "__main__":
+  from openpilot.system.ui.text import TextWindow
+
   unblock_stdout()
 
   try:

system/manager/process_config.py

@@ -94,6 +94,7 @@ procs = [
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),

system/ui/lib/application.py

@@ -5,8 +5,9 @@ import pyray as rl
 from enum import IntEnum
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
 
-DEFAULT_FPS = 60
+DEFAULT_FPS = 30
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
@@ -38,10 +39,17 @@ class GuiApplication:
     self._textures: list[rl.Texture] = []
     self._target_fps: int = DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._window_close_requested = False
 
-  def init_window(self, title: str, fps: int=DEFAULT_FPS):
+  def request_close(self):
+    self._window_close_requested = True
+
+  def init_window(self, title: str, fps: int = DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
 
+    HARDWARE.set_display_power(True)
+    HARDWARE.set_screen_brightness(65)
+
     rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
     rl.init_window(self._width, self._height, title)
     rl.set_target_fps(fps)
@@ -50,9 +58,11 @@ class GuiApplication:
     self._set_styles()
     self._load_fonts()
 
-  def load_texture_from_image(self, file_name: str, width: int, height: int):
+  def load_texture_from_image(self, file_name: str, width: int, height: int, alpha_premultiply = False):
     """Load and resize a texture, storing it for later automatic unloading."""
     image = rl.load_image(file_name)
+    if alpha_premultiply:
+      rl.image_alpha_premultiply(image)
     rl.image_resize(image, width, height)
     texture = rl.load_texture_from_image(image)
     # Set texture filtering to smooth the result
@@ -73,12 +83,12 @@ class GuiApplication:
 
     for font in self._fonts.values():
       rl.unload_font(font)
-    self._fonts = []
+    self._fonts = {}
 
     rl.close_window()
 
   def render(self):
-    while not rl.window_should_close():
+    while not (self._window_close_requested or rl.window_should_close()):
       rl.begin_drawing()
       rl.clear_background(rl.BLACK)
 
@@ -90,8 +100,8 @@ class GuiApplication:
       rl.end_drawing()
       self._monitor_fps()
 
-  def font(self, font_wight: FontWeight=FontWeight.NORMAL):
-    return self._fonts[font_wight]
+  def font(self, font_weight: FontWeight=FontWeight.NORMAL):
+    return self._fonts[font_weight]
 
   @property
   def width(self):

system/ui/spinner.py

@@ -2,44 +2,68 @@
 import pyray as rl
 import os
 import threading
+import time
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.text import wrap_text
 
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
-MARGIN = 200
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
+MARGIN_H = 100
 TEXTURE_SIZE = 360
-FONT_SIZE = 80
+FONT_SIZE = 96
+LINE_HEIGHT = 104
+DARKGRAY = (55, 55, 55, 255)
 
 
 def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
 
 
-class Spinner:
+class SpinnerRenderer:
   def __init__(self):
     self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE,
+                                                            alpha_premultiply=True)
     self._rotation = 0.0
-    self._text: str = ""
+    self._progress: int | None = None
+    self._wrapped_lines: list[str] = []
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
-      self._text = text
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._wrapped_lines = []
+      else:
+        self._progress = None
+        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
-    center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      self._rotation = (self._rotation + degrees_per_frame) % 360.0
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
@@ -47,29 +71,69 @@ class Spinner:
                         spinner_origin, self._rotation, rl.WHITE)
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
-    # Display progress bar or text based on user input
-    text = None
-    with self._lock:
-      text = self._text
+    # Display the progress bar or text based on user input
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
-    if text:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if text.isdigit():
-        progress = clamp(int(text), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif wrapped_lines:
+      for i, line in enumerate(wrapped_lines):
+        text_size = rl.measure_text_ex(gui_app.font(), line, FONT_SIZE, 0.0)
+        rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
+                        FONT_SIZE, 0.0, rl.WHITE)
 
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), text,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+
+class Spinner:
+  def __init__(self):
+    self._renderer: SpinnerRenderer | None = None
+    self._stop_event = threading.Event()
+    self._thread = threading.Thread(target=self._run)
+    self._thread.start()
+
+    # wait for the renderer to be initialized
+    while self._renderer is None and self._thread.is_alive():
+      time.sleep(0.01)
+
+  def update(self, spinner_text: str):
+    if self._renderer is not None:
+      self._renderer.set_text(spinner_text)
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window("Spinner")
+    self._renderer = renderer = SpinnerRenderer()
+    try:
+      for _ in gui_app.render():
+        if self._stop_event.is_set():
+          break
+        renderer.render()
+    finally:
+      gui_app.close()
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self._thread.is_alive():
+      self._stop_event.set()
+      self._thread.join(timeout=2.0)
+      if self._thread.is_alive():
+        print("WARNING: failed to join spinner thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Spinner")
-  spinner = Spinner()
-  spinner.set_text("Spinner text")
-  for _ in gui_app.render():
-    spinner.render()
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5)

system/ui/text.py

@@ -1,14 +1,18 @@
 #!/usr/bin/env python3
+import os
+import re
+import threading
+import time
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
 
 MARGIN = 50
-SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+SPACING = 40
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -16,27 +20,39 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    words = re.split(r"(\s+)", paragraph[len(indent):])
+    while len(words):
+      word = words.pop(0)
+      test_line = current_line + word + (words.pop(0) if words else "")
+      if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
-class TextWindow:
+
+class TextWindowRenderer:
   def __init__(self, text: str):
     self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
     self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
     self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
     self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
+    self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
   def render(self):
     scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
@@ -45,22 +61,66 @@ class TextWindow:
       position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
       if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
-    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 
-def show_text_in_window(text: str):
-  gui_app.init_window("Text")
-  text_window = TextWindow(text)
-  for _ in gui_app.render():
-    text_window.render()
+class TextWindow:
+  def __init__(self, text: str):
+    self._text = text
+
+    self._renderer: TextWindowRenderer | None = None
+    self._stop_event = threading.Event()
+    self._thread = threading.Thread(target=self._run)
+    self._thread.start()
+
+    # wait for the renderer to be initialized
+    while self._renderer is None and self._thread.is_alive():
+      time.sleep(0.01)
+
+  def wait_for_exit(self):
+    while self._thread.is_alive():
+      time.sleep(0.01)
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window("Text")
+    self._renderer = renderer = TextWindowRenderer(self._text)
+    try:
+      for _ in gui_app.render():
+        if self._stop_event.is_set():
+          break
+        renderer.render()
+    finally:
+      gui_app.close()
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self._thread.is_alive():
+      self._stop_event.set()
+      self._thread.join(timeout=2.0)
+      if self._thread.is_alive():
+        print("WARNING: failed to join text window thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()
 
 
 if __name__ == "__main__":
-  show_text_in_window(DEMO_TEXT)
+  with TextWindow(DEMO_TEXT):
+    time.sleep(5)

system/ui/updater.py

@@ -0,0 +1,197 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box, gui_label
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater:
+  def __init__(self, updater_path, manifest_path):
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+
+  def install_update(self):
+    self.current_screen = Screen.PROGRESS
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                   text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = "An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. \
+                 The download size is approximately 1GB."
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
+    button_width = (gui_app.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
+      self.current_screen = Screen.WIFI
+      return  # Return to avoid processing other buttons after screen change
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
+      self.install_update()
+      return  # Return to avoid further processing after action
+
+  def render_wifi_screen(self):
+    # Title and back button
+    title_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, 60)
+    gui_label(title_rect, "Wi-Fi Networks", 60, font_weight=FontWeight.BOLD)
+
+    back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    if gui_button(back_button_rect, "Back"):
+      self.current_screen = Screen.PROMPT
+      return  # Return to avoid processing other interactions after screen change
+
+    # Draw placeholder for WiFi implementation
+    placeholder_rect = rl.Rectangle(
+      MARGIN,
+      title_rect.y + title_rect.height + MARGIN,
+      gui_app.width - MARGIN * 2,
+      gui_app.height - title_rect.height - MARGIN * 3 - BUTTON_HEIGHT
+    )
+
+    # Draw rounded rectangle background
+    rl.draw_rectangle_rounded(
+      placeholder_rect,
+      0.1,
+      10,
+      rl.Color(41, 41, 41, 255)
+    )
+
+    # Draw placeholder text
+    placeholder_text = "WiFi Implementation Placeholder"
+    text_size = rl.measure_text_ex(gui_app.font(), placeholder_text, 80, 1)
+    text_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - text_size.x) / 2,
+      placeholder_rect.y + (placeholder_rect.height - text_size.y) / 2
+    )
+    rl.draw_text_ex(gui_app.font(), placeholder_text, text_pos, 80, 1, rl.WHITE)
+
+    # Draw instructions
+    instructions_text = "Real WiFi functionality would be implemented here"
+    instructions_size = rl.measure_text_ex(gui_app.font(), instructions_text, 40, 1)
+    instructions_pos = rl.Vector2(
+      placeholder_rect.x + (placeholder_rect.width - instructions_size.x) / 2,
+      text_pos.y + text_size.y + 20
+    )
+    rl.draw_text_ex(gui_app.font(), instructions_text, instructions_pos, 40, 1, rl.GRAY)
+
+  def render_progress_screen(self):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      if gui_button(reboot_rect, "Reboot"):
+        # Return True to signal main loop to exit before rebooting
+        HARDWARE.reboot()
+        return
+
+  def render(self):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen()
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen()
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for _ in gui_app.render():
+      updater.render()
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()

tools/clip/run.py

@@ -0,0 +1,215 @@
+#!/usr/bin/env python3
+
+import atexit
+import logging
+import os
+import platform
+import shutil
+import time
+from argparse import ArgumentParser, ArgumentTypeError
+from collections.abc import Sequence
+from pathlib import Path
+from random import randint
+from subprocess import Popen, PIPE
+from typing import Literal
+
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.tools.lib.route import SegmentRange, get_max_seg_number_cached
+
+DEFAULT_OUTPUT = 'output.mp4'
+DEMO_START = 90
+DEMO_END = 105
+DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
+FRAMERATE = 20
+PIXEL_DEPTH = '24'
+RESOLUTION = '2160x1080'
+SECONDS_TO_WARM = 2
+PROC_WAIT_SECONDS = 5
+
+REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
+UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
+
+logger = logging.getLogger('clip.py')
+
+
+def check_for_failure(proc: Popen):
+  exit_code = proc.poll()
+  if exit_code is not None and exit_code != 0:
+    cmd = str(proc.args)
+    if isinstance(proc.args, str):
+      cmd = proc.args
+    elif isinstance(proc.args, Sequence):
+      cmd = str(proc.args[0])
+    msg = f'{cmd} failed, exit code {exit_code}'
+    logger.error(msg)
+    stdout, stderr = proc.communicate()
+    if stdout:
+      logger.error(stdout.decode())
+    if stderr:
+      logger.error(stderr.decode())
+    raise ChildProcessError(msg)
+
+
+def parse_args(parser: ArgumentParser):
+  args = parser.parse_args()
+  if args.demo:
+    args.route = DEMO_ROUTE
+    if args.start is None or args.end is None:
+      args.start = DEMO_START
+      args.end = DEMO_END
+  elif args.route.count('/') == 1:
+    if args.start is None or args.end is None:
+      parser.error('must provide both start and end if timing is not in the route ID')
+  elif args.route.count('/') == 3:
+    if args.start is not None or args.end is not None:
+      parser.error('don\'t provide timing when including it in the route ID')
+    parts = args.route.split('/')
+    args.route = '/'.join(parts[:2])
+    args.start = int(parts[2])
+    args.end = int(parts[3])
+  if args.end <= args.start:
+    parser.error(f'end ({args.end}) must be greater than start ({args.start})')
+  if args.start < SECONDS_TO_WARM:
+    parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
+
+  # if using local files, don't worry about length check right now so we skip the network call
+  # TODO: derive segment count from local FS
+  if not args.data_dir:
+    try:
+      num_segs = get_max_seg_number_cached(SegmentRange(args.route))
+    except Exception as e:
+      parser.error(f'failed to get route length: {e}')
+
+    # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
+    length = round(num_segs * 60)
+    if args.start >= length:
+      parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
+    if args.end > length:
+      parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
+
+  return args
+
+
+def start_proc(args: list[str], env: dict[str, str]):
+  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
+
+
+def validate_env(parser: ArgumentParser):
+  if platform.system() not in ['Linux']:
+    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
+  for proc in ['Xvfb', 'ffmpeg']:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n')
+  for proc in [REPLAY, UI]:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n')
+
+
+def validate_output_file(output_file: str):
+  if not output_file.endswith('.mp4'):
+    raise ArgumentTypeError('output must be an mp4')
+  return output_file
+
+
+def validate_route(route: str):
+  if route.count('/') not in (1, 3):
+    raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}')
+  return route
+
+
+def wait_for_frames(procs: list[Popen]):
+  sm = SubMaster(['uiDebug'])
+  no_frames_drawn = True
+  while no_frames_drawn:
+    sm.update()
+    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
+    for proc in procs:
+      check_for_failure(proc)
+
+
+def clip(data_dir: str | None, quality: Literal['low', 'high'], prefix: str, route: str, output_filepath: str, start: int, end: int, target_size_mb: int):
+  logger.info(f'clipping route {route}, start={start} end={end} quality={quality} target_filesize={target_size_mb}MB')
+
+  begin_at = max(start - SECONDS_TO_WARM, 0)
+  duration = end - start
+  bit_rate_kbps = int(round(target_size_mb * 8 * 1024 * 1024 / duration / 1000))
+
+  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
+  display = f':{randint(99, 999)}'
+
+  ffmpeg_cmd = [
+    'ffmpeg', '-y', '-video_size', RESOLUTION, '-framerate', str(FRAMERATE), '-f', 'x11grab', '-draw_mouse', '0',
+    '-i', display, '-c:v', 'libx264', '-maxrate', f'{bit_rate_kbps}k', '-bufsize', f'{bit_rate_kbps*2}k', '-crf', '23',
+    '-preset', 'ultrafast', '-pix_fmt', 'yuv420p', '-movflags', '+faststart', '-f', 'mp4', '-t', str(duration), output_filepath,
+  ]
+
+  replay_cmd = [REPLAY, '-c', '1', '-s', str(begin_at), '--prefix', prefix]
+  if data_dir:
+    replay_cmd.extend(['--data_dir', data_dir])
+  if quality == 'low':
+    replay_cmd.append('--qcam')
+  replay_cmd.append(route)
+
+  ui_cmd = [UI, '-platform', 'xcb']
+  xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
+
+  with OpenpilotPrefix(prefix, shared_download_cache=True):
+    env = os.environ.copy()
+    env['DISPLAY'] = display
+
+    xvfb_proc = start_proc(xvfb_cmd, env)
+    atexit.register(lambda: xvfb_proc.terminate())
+    ui_proc = start_proc(ui_cmd, env)
+    atexit.register(lambda: ui_proc.terminate())
+    replay_proc = start_proc(replay_cmd, env)
+    atexit.register(lambda: replay_proc.terminate())
+    procs = [replay_proc, ui_proc, xvfb_proc]
+
+    logger.info('waiting for replay to begin (loading segments, may take a while)...')
+    wait_for_frames(procs)
+
+    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+    time.sleep(SECONDS_TO_WARM)
+    for proc in procs:
+      check_for_failure(proc)
+
+    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
+    procs.append(ffmpeg_proc)
+    atexit.register(lambda: ffmpeg_proc.terminate())
+
+    logger.info(f'recording in progress ({duration}s)...')
+    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+    for proc in procs:
+      check_for_failure(proc)
+    logger.info(f'recording complete: {Path(output_filepath).resolve()}')
+
+
+def main():
+  p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai')
+  validate_env(p)
+  route_group = p.add_mutually_exclusive_group(required=True)
+  route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')
+  route_group.add_argument('--demo', help='use the demo route', action='store_true')
+  p.add_argument('-d', '--data-dir', help='local directory where route data is stored')
+  p.add_argument('-e', '--end', help='stop clipping at <end> seconds', type=int)
+  p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.)
+  p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
+  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
+  p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
+  p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
+  args = parse_args(p)
+  try:
+    clip(args.data_dir, args.quality, args.prefix, args.route, args.output, args.start, args.end, args.file_size)
+  except KeyboardInterrupt as e:
+    logger.exception('interrupted by user', exc_info=e)
+  except Exception as e:
+    logger.exception('encountered error', exc_info=e)
+  finally:
+    atexit._run_exitfuncs()
+
+
+if __name__ == '__main__':
+  logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s')
+  main()

tools/install_ubuntu_dependencies.sh

@@ -63,7 +63,8 @@ function install_ubuntu_common_requirements() {
     libqt5svg5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev
+    libqt5opengl5-dev \
+    xvfb
 }
 
 # Install Ubuntu 24.04 LTS packages

tools/op.sh

@@ -328,6 +328,11 @@ function op_sim() {
   op_run_command exec tools/sim/launch_openpilot.sh
 }
 
+function op_clip() {
+  op_before_cmd
+  op_run_command tools/clip/run.py $@
+}
+
 function op_switch() {
   REMOTE="origin"
   if [ "$#" -gt 1 ]; then
@@ -395,6 +400,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
   echo -e "  ${BOLD}replay${NC}       Run Replay"
   echo -e "  ${BOLD}cabana${NC}       Run Cabana"
+  echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
@@ -445,6 +451,7 @@ function _op() {
     lint )          shift 1; op_lint "$@" ;;
     test )          shift 1; op_test "$@" ;;
     replay )        shift 1; op_replay "$@" ;;
+    clip )          shift 1; op_clip "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;

tools/plotjuggler/juggle.py

@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
   env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
+    if os.path.exists(dbc):
+      dbc = os.path.abspath(dbc)
     env["DBC_NAME"] = dbc
 
   extra_args = ""
   if fn is not None:
-    extra_args += f" -d {fn}"
+    extra_args += f" -d {os.path.abspath(fn)}"
   if layout is not None:
-    extra_args += f" -l {layout}"
+    extra_args += f" -l {os.path.abspath(layout)}"
   if route_or_segment_name is not None:
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
 

tools/replay/README.md

@@ -81,7 +81,7 @@ Arguments:
                          connect.comma.ai
 ```
 
-## Visualize the Replay in the Openpilot UI
+## Visualize the Replay in the openpilot UI
 To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash

tools/replay/consoleui.h

@@ -12,7 +12,7 @@ public:
   ConsoleUI(Replay *replay);
   ~ConsoleUI();
   int exec();
-  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 4.0f, 8.0f};
 
 private:
   void initWindows();

tools/replay/route.cc

@@ -121,7 +121,7 @@ bool Route::loadFromJson(const std::string &json) {
 bool Route::loadFromLocal() {
   std::string pattern = route_.timestamp + "--";
   for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) {
-    if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) {
+    if (entry.is_directory() && entry.path().filename().string().find(pattern) != std::string::npos) {
       std::string segment = entry.path().string();
       int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str());
 

tools/sim/bridge/common.py

@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)